A Distributed Relative Localization Scheme Based on Geometry Merging Priority

High-accuracy position information is essential for the emerging applications of Internet of Things, where relative localization is often more pertinent in many cooperative tasks. In this paper, we propose a distributed relative localization scheme for large-scale 3D networks where the relative position relationships of the entire network as well as the subnetwork are concerned. In particular, we first design the prioritized geometry merging procedure with merging confidence evaluation of the geometry pairs for the entire network localization. Then we specifically extend this priority-based methodology for the algorithm design of subnetwork-aimed localization. Numerical results demonstrate that the proposed schemes significantly outperform existing algorithms.